for(int i=0; i<numTargets; ++i) {
HDirectable target = it.next();
float rot = target.rotationRad();
float tx = target.x();
float ty = target.y();
float goalx = _idleGoalX;
float goaly = _idleGoalY;
float goalz = 0;
HLocatable goal = getGoal(target, app);